COORDINATION OF A PROTOTYPED MANIPULATOR BASED ON AN EXPERIMENTAL VISUO-MOTOR MODEL

Renato de Sousa Dâmaso, Mário Sarcinelli Filho, Teodiano Freire Bastos Filho, Tarcisio Passos Ribeiro de Campos

Abstract

This paper presents a strategy to build an experimental visuo-motor model for a manipulator coupled to a binocular vision system, which discards any previous algebraic model and any calibration of either the manipulator or the vision system. The space spanned by a set of selected image features is divided in regions, and the estimated visuo-motor model is represented by a matrix of constant elements associated to each one of such regions. Such matrices are obtained in an incremental way, starting from commands of movement and using the measurements of the variations they cause in the set of image features. Even when partially filled in, the visuo-motor model can be used for coordinating the manipulator in order to get its end-effector closer to an object and to grasp it. Preliminary results got from the implementation of the proposed strategy in a prototyped manipulator coupled to a binocular vision system are also presented.

References

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Paper Citation


in Harvard Style

de Sousa Dâmaso R., Sarcinelli Filho M., Freire Bastos Filho T. and Passos Ribeiro de Campos T. (2005). COORDINATION OF A PROTOTYPED MANIPULATOR BASED ON AN EXPERIMENTAL VISUO-MOTOR MODEL . In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 972-8865-30-9, pages 304-309. DOI: 10.5220/0001191303040309


in Bibtex Style

@conference{icinco05,
author={Renato de Sousa Dâmaso and Mário Sarcinelli Filho and Teodiano Freire Bastos Filho and Tarcisio Passos Ribeiro de Campos},
title={COORDINATION OF A PROTOTYPED MANIPULATOR BASED ON AN EXPERIMENTAL VISUO-MOTOR MODEL},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2005},
pages={304-309},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001191303040309},
isbn={972-8865-30-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - COORDINATION OF A PROTOTYPED MANIPULATOR BASED ON AN EXPERIMENTAL VISUO-MOTOR MODEL
SN - 972-8865-30-9
AU - de Sousa Dâmaso R.
AU - Sarcinelli Filho M.
AU - Freire Bastos Filho T.
AU - Passos Ribeiro de Campos T.
PY - 2005
SP - 304
EP - 309
DO - 10.5220/0001191303040309